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. 2022 Apr 29;22(9):3405.
doi: 10.3390/s22093405.

s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact Actuation

Ning Li  1   2 , Hui Liu  1 , Reza Yazdanpanah Abdolmalaki  1 , Gregory J Mancini  3 , Jindong Tan  1
Affiliations

s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact Actuation

Ning Li et al. Sensors (Basel). .

Abstract

Fully insertable robotic imaging devices represent a promising future of minimally invasive laparoscopic vision. Emerging research efforts in this field have resulted in several proof-of-concept prototypes. One common drawback of these designs derives from their clumsy tethering wires which not only cause operational interference but also reduce camera mobility. In this paper, a tetherless insertable surgical camera (s-CAM) robot with non-contact transabdominal actuation is presented for single-incision laparoscopic vision. Wireless video transmission and control communication using onboard power help eliminate cumbersome tethering wires. Furthermore, magnetic based camera actuation gets rid of intrinsic physical constraints of mechanical driving mechanisms, thereby improving camera mobility and reducing operational interference. In addition, a custom Bluetooth low energy (BLE) application profile and a real-time operating system (RTOS) based multitask programming framework are also proposed to facilitate embedded software design for insertable medical devices. Initial ex vivo test results of the s-CAM design have demonstrated technical feasibility of a tetherless insertable laparoscopic camera. Effective imaging is confirmed at as low as 500 lx illumination. Wireless laparoscopic vision is accessible within a distance of more than 10 m. Transabdominal BLE communication is stable at over -52 dBm and shows its potential for wireless control of insertable medical devices. RTOS based sfotware event response is bounded within 1 ms while the CPU usage is at 3∼5%. The device is able to work for 50 min with its onboard power. For the mobility, the robot can translate against the interior abdominal wall to reach full abdomen quadrants, tilt between -180∘ and +180∘, and pan in the range of 0∘∼360∘. The s-CAM has brought robotic laparoscopic imaging one step further toward less invasiveness and more dexterity.

Keywords: insertable laparoscopic camera; medical robotics; minimally invasive surgery; robotic-assisted surgery.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Laparoscope paradigm evolution in terms of operability and dexterity. (a) Traditional laparoscope confined by trocar, (b) Laparoscope with an articulating tip, (c) Robotic-assisted laparoscope, (d) Future laparoscope with dexterous mobility and intuitive operability.
Figure 2
Figure 2
s-CAM concept and working principle. An AUBO-i5™ [32] collaborative robotic arm (Smokie Robotics, Inc., Knoxville, TN, USA), a continuum robotic manipulator (Titan Medical Inc., Toronto, ON, Canada) and a GelPort® SILS access port (Applied Medical Resources Corporation, Rancho Santa Margarita, CA, USA) are included for technical reference.
Figure 3
Figure 3
Magnetic-based stator-rotor actuation mechanism.
Figure 4
Figure 4
Mechanical design and fabrication of the rotor.
Figure 5
Figure 5
Mechanical design and fabrication of the stator: the assembled stator profile (left) and its inside mechanism (right).
Figure 6
Figure 6
s-CAM electronic system architecture block diagram.
Figure 7
Figure 7
Implementation and layout of camera onboard modules.
Figure 8
Figure 8
Implementation of the actuator electronic hardware.
Figure 9
Figure 9
s-CAM BLE profile and application flow chart.
Figure 10
Figure 10
Real-time operating system based software framework.
Figure 11
Figure 11
Ex vivo phantom experiment setup in a 3-Dmed® synthetic abdomen model.
Figure 12
Figure 12
Wireless imaging performance test. A picture of the anchored s-CAM taken by a wifi camera is shown in a top-right insets. (Left: Color imaging of a Peg Transfer Board; Right: Monochrome grid imaging).
Figure 13
Figure 13
RSSIs with respect to stator-rotor distances.
Figure 14
Figure 14
Illuminance tests at different distances to the LED module.
Figure 15
Figure 15
Translation of the camera and another setup for mobility test. A multi-quadrant coordinate frame was placed in the belly for imaging reference. Left upper quadrant (LUQ), left lower quadrant (LLQ), right upper quadrant (RUQ), right lower quadrant (RLQ).
Figure 16
Figure 16
Tilt motion of the camera. A resultant tilt observation range angle of ±90∘ was achieved.
See this image and copyright information in PMC

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